CN214342593U - Movable platform, telecentric control mechanism and surgical robot - Google Patents

Abstract

The utility model relates to the field of medical equipment, especially, relate to a move platform, telecentric control mechanism and surgical robot, telecentric control mechanism including move platform, quiet platform and connect in move the platform with a plurality of flexible units between the quiet platform, wherein: move one side of platform surface indent and form and dodge the space, flexible unit one end with move coupling assembling between the platform at least part and be located dodge in the space, flexible unit's the other end rotate be connected to quiet platform, it is a plurality of flexible unit is flexible in coordination with control move the platform for quiet platform motion. Move and inwards to form on the side that is connected with flexible unit on the platform dodge the space, and flexible unit's hinge sets up in this dodges the space, has reduced the shared space of connecting the hinge like this, makes the heart far away control the holistic space of mechanism and occupies to a certain extent and reduce.

Description

Movable platform, telecentric control mechanism and surgical robot

Technical Field

The utility model relates to the field of medical equipment, especially, relate to a move platform, telecentric control mechanism and surgical robot.

Background

The minimally invasive surgery is to open a tiny wound on the body of a patient, pass part of an actuating mechanism of a surgical robot through the tiny wound and enter a focus position, and enable a telecentric motionless point of the actuating mechanism to coincide with the wound position. A doctor controls the active end of the surgical robot, so that a telecentric control mechanism of the surgical robot can drive an executing mechanism to do spatial swing within a certain angle range by taking a telecentric motionless point as a hinge point, and the minimally invasive surgery is completed by assisting the rotating, opening and closing and other surgical actions of the executing mechanism. In recent years, minimally invasive surgery is gaining favor of medical staff and patients due to small wound and less bleeding.

In the operation robot, the telecentricity fixed point on the executing mechanism is required to be kept to be strictly superposed with the wound so as to avoid the expansion of the wound due to the swinging traction of the executing mechanism. In the comparatively mainstream da vinci operation robot at present, what telecentric control mechanism adopted is parallelogram mechanism to obtain telecentric motionless point, however, among the current da vinci operation robot, telecentric control mechanism drives actuating mechanism's swing, need realize through the steel band tractive, not only requires telecentric control mechanism's own manufacturing to be higher at the assembly precision, also requires the steel band not to take place the deformation that exceeds preset scope at the tractive in-process simultaneously, and manufacturing cost is higher. Meanwhile, because the parallelogram mechanism belongs to a serial mechanism, the motion errors of all positions in the mechanism are accumulated, and the rigidity of the mechanism is not high, the improvement of the motion precision of the mechanism is greatly restricted. In order to solve the problems of large accumulated motion error and insufficient rigidity caused by a serial mechanism, in addition, various parallel mechanisms are adopted as telecentric control mechanisms in the prior art, compared with the serial mechanism, the motion errors of all positions in the parallel mechanism are non-accumulated, and the structural rigidity is high.

However, the installation space of a general surgical robot is narrow, and the parallel mechanism has an inevitable problem in that the structural size is generally large, and thus, the structural size problem needs to be overcome in terms of application.

SUMMERY OF THE UTILITY MODEL

In view of this, it is necessary to provide a movable platform, a telecentric control mechanism and a surgical robot, in which the movable platform reduces the space occupied by the rotary connection between the telescopic unit and the movable platform through the arrangement of the concave avoidance space, so that the space occupied by the entire telecentric control mechanism is reduced.

The embodiment of the utility model provides an at first provide a surgical robot's heart far away controls mechanism, including move the platform, quiet platform and connect in move the platform with a plurality of flexible units between the quiet platform, wherein:

move one side of platform surface indent and form and dodge the space, flexible unit one end with move coupling assembling between the platform at least part and be located dodge in the space, flexible unit's the other end rotate be connected to quiet platform, it is a plurality of flexible unit is flexible in coordination with control move the platform for quiet platform motion. Move and inwards to form on the side that is connected with flexible unit on the platform dodge the space, and flexible unit's hinge sets up in this dodges the space, has reduced the shared space of connecting the hinge like this, makes the heart far away control the holistic space of mechanism and occupies to a certain extent and reduce.

In a feasible scheme, a weight reduction groove is further formed in the movable platform at the position staggered with the avoidance space. The weight of the movable platform can be reduced by the weight reduction grooves, so that the movement inertia of the movable platform is reduced.

In one possible solution, there are a plurality of weight-reducing slots, and the plurality of weight-reducing slots balance the weight of the movable platform, so that the center of mass of the movable platform coincides with the center of a circle on which the plurality of connecting assemblies are located. The avoidance space is arranged according to the connection requirement of the hinge point of the telescopic unit, the weight reduction groove is used for reducing the whole weight of the movable platform, the movable platform is kept to be a component with the mass center coinciding with the geometric center due to the arrangement of the weight reduction groove, and the uneven weight of the movable platform is avoided.

In a feasible scheme, an inner cavity used for embedding a motor is formed in one side face, back to the connection of the telescopic unit, of the movable platform. The motor is embedded in the inner cavity of the movable platform, so that the space occupied by the movable platform and the structure mounted on the movable platform can be further reduced.

The embodiment of the utility model provides a still provide a surgical robot, control the mechanism including foretell heart far away, and set up in move actuating mechanism on the platform, wherein: a motor is embedded in the movable platform, a bearing inner ring is fixedly arranged on a rotor of the motor, a bearing outer ring is fixedly arranged on the movable platform, and a roller for transmitting space force between the bearing inner ring and the bearing outer ring is supported between the bearing inner ring and the bearing outer ring; the actuator is fixedly connected relative to the rotor. The bearing inner ring, the bearing outer ring and the roller form a bearing structure capable of transmitting space force, so that the space force can be transmitted between the actuating mechanism fixedly connected with the rotor of the motor and the stator of the motor.

In a feasible scheme, the motor comprises a hollow rotating shaft, a first sensor used for detecting the environmental torque borne by the actuating mechanism is further arranged between the rotor and the actuating mechanism, and a connecting wire of the first sensor penetrates through the hollow rotating shaft. The wire of first sensor can pass through the cavity pivot of motor, is favorable to walking the line arrangement of first sensor, avoids the wire to influence the motion of actuating mechanism one side, or causes surgical robot's arrangement confusion.

In a possible solution, the actuator includes a base, and one end of the first sensor is fixedly connected to the base, and the other end of the first sensor is fixedly connected to the rotor through a fixing seat. Therefore, the stress condition of the actuating mechanism can be detected by the first sensor through the base, and the force feedback of the surgical robot is facilitated.

In a feasible scheme, a second sensor is further arranged on the movable platform and used for detecting the angle of the actuating mechanism rotating along with the motor.

In one possible solution, the rollers are arranged as cross rollers. The crossed roller, the bearing inner ring and the bearing outer ring jointly form a crossed bearing, so that the actuating mechanism fixedly connected with the rotor of the motor and the stator of the motor can reliably transmit space force.

The embodiment of the utility model provides a still provide a telecentric system of control moves platform, which comprises a body, concave formation has the space of dodging on the side of body, dodge the space be used for installing the flexible unit with coupling assembling between the body. A side surface of the body is concave to form an avoiding space, the avoiding space can be used for installing a hinge for connecting the telescopic unit with the body, and therefore the space occupied by the connection hinge and the movable platform is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a perspective view of a surgical robot, in which a partial structure of a preoperative positioning mechanism is omitted;

FIG. 2 is an exploded view of the actuator;

FIG. 3 is another exploded view of the actuator with the housing omitted;

FIG. 4 is a perspective view of a portion of the actuator;

FIG. 5 is an enlarged view of portion A of the structure shown in FIG. 3, showing the circumferential engagement between the stem and the stop;

FIG. 6 is an enlarged view of the portion B of the structure shown in FIG. 4, showing the relative position between the insertion and extraction limiting assembly and the sleeve rod;

FIG. 7 is a half sectional view showing a partial structure of an actuator;

FIG. 8 is an enlarged view of the portion C of the structure shown in FIG. 7, which shows the specific structure of the insertion and extraction limiting assembly and the relative position relationship between the insertion and extraction limiting assembly and the loop bar;

fig. 9 is a perspective view of an upper plate body in the detection element;

FIG. 10 is a perspective view of a position-limiting element of the insertion/extraction position-limiting assembly;

FIG. 11 is a perspective view of a portion of the drive assembly showing the cooperative relationship between the driving member, the driving member and the instrument shaft;

FIG. 12 is a perspective view of a transmission member according to an embodiment;

FIG. 13 is a cross-sectional view of the engagement structure of the drive member with the instrument shaft;

FIG. 14 is a perspective view of a portion of the actuator assembly showing the positions of the first and second opto-electronic switches on the housing;

FIG. 15 is a perspective view of a base of the drive assembly;

FIG. 16 is a cross-sectional view of the housing of the drive assembly showing the configuration of the slip joint aperture in the slip joint;

FIG. 17 is a block diagram of a portion of the drive assembly, wherein the view is selected to be a view looking directly at the outer surface of the second fork plate;

FIG. 18 is a structural diagram of a portion of the drive assembly, wherein the view is selected to be a view looking at the outer side surface of the first yoke plate;

FIG. 19 is a perspective view of a portion of the telecentric manipulating mechanism, showing the mounting position relationship between the movable platform and the connecting assembly;

FIG. 20 is a perspective view of the movable platform from one perspective, showing the distribution of weight-reduction slots and avoidance space on one side of the movable platform;

FIG. 21 is a perspective view of the movable platen from another perspective showing the distribution of the internal chambers on the other side of the movable platen;

fig. 22 is a sectional view of a part of the structure of the surgical robot, showing the mounting positions of various components inside the movable platform.

Reference numbers in the figures: 100. an actuator;

11. a drive assembly; 12. a surgical instrument; 13. plugging and pulling the limit component; 14. a limiting member; 15. a housing;

111. a driving member; 112. a transmission member; 113. a drive source; 114. a machine base; 115. a first photoelectric switch; 116. a second photoelectric switch; 117. a calibration piece; 118. fixing a bracket; 119. a pivot shaft; 1121. a pivot part; 1122. a motion input section; 1123. a tension drive section; 1124. a chute; 1125. a port; 1126. a side gap; 1131. a drive body; 1141. mounting holes; 1142. a sliding stroke space; 1143. a first fork plate; 1144. a second yoke plate; 1145. a slip joint; 1146. a rotation connecting part; 11431. an arc-shaped slot; 11441. avoiding the opening; 11451. a sliding hole; 121. a loop bar; 122. an instrument stem; 123. an operation end; 1211. a bump; 1212. a card slot; 1213. a limiting ring groove; 12111. leading in an inclined plane; 12131. a stop surface; 1221. a sliding end; 131. a spacing element; 132. an elastic element; 133. a pressing part; 134. a detection element; 1311. a limiting hole; 1312. a triggering section; 13111. a large-bore diameter portion; 13112. a small-bore diameter section; 13121. triggering a terminal; 1341. a detection channel; 1342. an upper plate body; 1343. a yielding groove; 13431. an inlet channel section; 13432. a guide groove section; 141. a through hole; 1411. a protrusion; 151. a slide hole;

200. a motor;

21. a rotor; 22. a stator; 23. a hollow rotating shaft;

300. a telecentric control mechanism;

31. a telescopic unit; 32. a movable platform; 33. a static platform; 34. a connecting assembly; 35. a bearing; 36. a first sensor; 37. a second sensor; 38. a housing; 321. avoiding a space; 322. a weight reduction groove; 323. an interior chamber; 351. a bearing inner race; 352. a roller; 353. a bearing outer race; 361. a fixed seat;

400. a preoperative positioning mechanism;

x, a first axis; y, second axis.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. The technical solution of the present invention will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The utility model relates to a surgical robot, which is used for assisting doctors to complete minimally invasive surgery. The minimally invasive surgery is to open a tiny wound on the body of a patient, pass an operating end of a surgical instrument through the tiny wound to reach a focus, and enable a doctor to remotely control the surgical instrument through an operating console of a surgical robot so as to enable the surgical instrument to swing spatially with the wound as a fixed point, thereby completing a corresponding surgery. In the process, in order to avoid the tiny wound on the body of the patient from being scratched or pulled by the surgical instrument, the surgical robot needs to have a telecentric motionless point on the surgical instrument, when the surgical instrument passes through the tiny wound and reaches the focus at the operation end in the body of the patient during minimally invasive surgery, the telecentric motionless point is superposed with the tiny wound, the spatial swing motion of the surgical instrument is carried out by taking the telecentric motionless point as a fixed point, so that when the surgical instrument swings, no relative displacement exists between the surgical instrument at the telecentric motionless point and the tiny wound, and therefore, the tiny wound cannot be further scratched or pulled during surgery.

In order to obtain a telecentric motionless point, the existing surgical robot mostly adopts a davinci structure, and the telecentric motionless point in the davinci structure is obtained by a parallelogram mechanism. However, in the surgical robot adopting the da vinci structure, the following problems inevitably occur: 1. due to the motion characteristics of the parallelogram mechanism, the instrument arms in the DaVinci structure need larger motion space, so that motion interference among a plurality of instrument arms is easy to occur; 2. in the structure of the da vinci, the action of the surgical instrument is completed by drawing the steel belt, and in order to ensure that the surgical instrument moves accurately, the elastic deformation of the steel belt in the drawing process needs to be strictly controlled, so that extremely high requirements are provided for the material, the treatment process and the like of the steel belt; 3. the parallelogram mechanism belongs to a series mechanism, and motion errors among all parts in the mechanism are mutually overlapped, so that the final mechanism has larger overall motion error; 4. in the structure of the da vinci, the operation instrument is driven to move by the traction of the flexible steel belt, so that a force feedback system cannot be established, a doctor at an operation table cannot sense the acting force between an operation end and a focus, and the control of the doctor becomes difficult.

Fig. 1 is a perspective view of a surgical robot according to an embodiment of the present invention, as shown in fig. 1, the surgical robot includes a preoperative positioning mechanism 400 (partial structure is omitted in the drawing), a telecentric control mechanism 300, an actuator 100, and the like, wherein: the telecentric operating mechanism 300 adopts a parallel mechanism, and in the structure shown in fig. 1, the parallel mechanism used as the telecentric operating mechanism 300 is a Stewart platform which comprises a movable platform 32 close to one side of the actuating mechanism 100, a static platform 33 close to one side of the preoperative positioning mechanism 400, and a telescopic unit 31 connected between the movable platform 32 and the static platform 33.

In the telecentric steering mechanism 300: the two ends of the telescopic unit 31 are rotatably connected to the movable platform 32 and the static platform 33 through a connecting assembly 34. In some embodiments, the connecting assembly 34 may be provided as a ball hinge, a universal joint, or the like that is capable of meeting the degree of freedom requirement. When the actuating mechanism 100 is controlled to perform an operation, the plurality of telescopic units 31 are used for telescopic the same or different distances in a coordinated manner, so that the movable platform 32 moves to different poses relative to the static platform 33, and further, one end, extending into a patient, of the actuating mechanism 100 on the movable platform 32 is driven to swing in a conical space, wherein the conical space takes a telecentric motionless point O as a vertex, a first axis X as an axis and a vertex angle alpha.

The telecentric motionless point O shown in fig. 1 is a point on the first axis X that needs to coincide with the wound site on the patient's body when the surgery is performed. In the da vinci surgical robot, the position of the telecentric motionless point is fixed in the surgical robot because the parallelogram mechanism is adopted to obtain the telecentric motionless point. Different from this, in the utility model discloses a telecentricity is controlled in mechanism 300, and telecentricity motionless point O is a pseudo-telecentricity motionless point, and it can have certain adjustment range on primary axis X, and this telecentricity motionless point O's adjustment can be realized through the telescoping device in the before-operation positioning mechanism 400.

In the surgical robot provided by the utility model, the telecentric control mechanism 300 adopts a parallel mechanism, and the rotational inertia at one end of the movable platform 32 is small, so that when the actuating mechanism 100 is controlled by the telecentric control mechanism 300 to act, the dynamic performance of the actuating mechanism 100 is good; meanwhile, the plurality of telescopic units 31 in the telecentric control mechanism 300 work in parallel, so that the position errors of the plurality of telescopic units 31 acting on the movable platform 32 are parallel non-accumulative, and the movable platform 32 can obtain higher position precision compared with a da vinci surgical robot; the plurality of telescopic units 31 are rigid telescopic units, so that force can be transferred between the actuating mechanism 100 and the telecentric control mechanism 300, and the surgical robot of the utility model can be provided with a force feedback structure, so that a doctor can conveniently control the operation at one end of the operating platform; since the plurality of telescopic units 31 share the force transmitted from the actuator 100, the load-bearing capacity of the entire surgical robot is improved accordingly.

Fig. 2 is an exploded structural view of the actuator, and fig. 3 is another exploded structural view of the actuator, in which structures such as the insertion/extraction limiting assembly 13 and the housing 15 are omitted, compared with the structure in fig. 2; a perspective view of a partial structure of the actuator; fig. 5 is an enlarged view of a portion a of the structure shown in fig. 3, showing a circumferential engagement structure between the stem and the stopper.

Referring to fig. 2 to 5, the actuator 100 includes a driving assembly 11, a surgical instrument 12 and a limiting member 14, wherein: the driving assembly 11 includes a base 114 and a transmission member mounted on the base 114, and the limiting member 14 is detachably and fixedly connected to the base 114. The actuator 100 may further include a housing 15, one end of the housing 15 being connected to the movable platform, one end of the surgical instrument 12 extending from the housing 15, and the driving assembly 11 being disposed inside the housing 15.

The surgical device 12 includes a sleeve rod 121, a device rod 122, and an operating end 123 located on the device rod 122 at an end remote from the drive assembly 11. The sleeve rod 121 is coaxially sleeved outside the instrument rod 122, and the operation end 123 is used for completing a specific operation, and can be configured as an electric knife, a forceps, a clip or other similar instruments. One end of the instrument rod 122 is connected to the transmission member in a transmission manner, so as to slide along the first axis X relative to the sleeve rod 121 under the driving of the transmission member, so as to drive the operation end 123 to complete a specific operation action, for example, when the operation end 123 is configured as an operation forceps, the sliding movement of the instrument rod 122 along the first axis X can drive the operation forceps to complete an opening and closing action.

One end of the loop bar 121, which is close to the transmission component, extends into the limiting component 14 and forms a circumferential limiting fit with the limiting component 14. The base 114 has a mounting hole 1141 formed therein, and the limiting member 14 is fixed in the mounting hole 1141. When the base 114 drives the base 114 to rotate along with the motor in the movable platform 32, the limiting member 14 is fixed to the base 114, and the sleeve rod 121 and the limiting member 14 can be linked in a circumferential direction, so that the sleeve rod 121 can rotate along with the rotation of the base 114. Meanwhile, since the movement of the instrument rod 122 along the first axis X is driven by the transmission component installed on the base 114, the circumferential movement of the instrument rod 122 is also driven by the base 114, and the whole surgical instrument 12 can rotate along with the base 114.

In an executing mechanism of an existing surgical robot, axial and circumferential connection relations of a surgical instrument are often arranged on a connecting structure, for example, a structure for driving the surgical instrument to move axially is a rotating shaft, an external thread is arranged on the outer peripheral surface of the shaft end of the rotating shaft, and the surgical instrument establishes an axial linkage relation with the rotating shaft through a thread sleeve with an internal thread; meanwhile, a positioning bulge is arranged on the end face of the shaft end of the rotating shaft, a clamping groove matched with the positioning bulge is arranged on the part of the surgical instrument axially connected to the rotating shaft, and a circumferential linkage relation is established between the rotating shaft and the surgical instrument through the matching of the positioning bulge and the clamping groove. When the device is installed, the clamping groove on the surgical instrument is aligned to the positioning protrusion at the shaft end of the rotating shaft, then the clamping groove and the positioning protrusion are butted in place along the axial direction, and further the axial position between the clamping groove and the positioning protrusion is fixed through the threaded sleeve and the external threads on the periphery of the rotating shaft in a threaded connection mode.

In the connecting structure of the surgical instrument, the axial linkage and the circumferential linkage are required to establish a connection relationship through the shaft end of the rotating shaft, and in the use of the surgical robot, the positioning protrusions and the clamping grooves are required to be circumferentially extruded mutually to transmit the torque moment, so that after a period of time, the rotating shaft is abraded to a greater extent, and the integral driving structure where the rotating shaft is required to be integrally replaced.

In contrast, in the actuator 100 shown in fig. 2 to 5, the limiting member 14 is detachably connected to the mounting hole 1141 of the base 114, so that when the limiting member 14 is worn, only the limiting member 14 can be replaced to eliminate the wear effect, without replacing the rest of the driving assembly 11. Because the surgical instrument 12 needs to be disassembled and replaced when different operations are performed, and the frequent disassembly of the surgical instrument 12 also accelerates the wear rate of the limiting member 14, the limiting member 14 which can be conveniently disassembled and replaced is additionally arranged in the driving assembly 11, which is beneficial to the maintenance of the executing mechanism 100 after being worn. In some embodiments, the material may be selected such that the wear occurs preferentially on the limiting member 14, so that when the limiting member 14 and the sleeve rod 121 are pressed against each other to transmit the circumferential force, the wear mainly occurs on the limiting member 14, and the replacement of the limiting member 14 can eliminate the wear to protect the surgical device 12.

In one embodiment, the retaining member 14 is interference fit into the mounting hole 1141. In other embodiments, the limiting member 14 and the base 114 can be assembled by other detachable connection manners, as long as the limiting member 14 can drive the sleeve rod 121 to rotate circumferentially along with the base 114.

Referring to an enlarged view of a portion a in fig. 5, in an embodiment, a through hole 141 for allowing the sleeve rod 121 to pass through is formed in the limiting member 14, one of an inner hole wall of the through hole 141 and an outer peripheral wall of the sleeve rod 121 is provided with a radially extending protrusion 1411, the other one is provided with a locking groove 1212 into which the protrusion 1411 can be locked, and when a circumferential force is transmitted, the protrusion 1411 and a groove side wall of the locking groove 1212 are pressed against each other, so that the sleeve rod 121 can rotate circumferentially along with the limiting member 14.

In the illustrated embodiment, the locking groove 1212 is formed on the outer circumferential wall of the sleeve rod 121, and the protrusion 1411 is disposed in the mounting hole 1141 of the retaining member 14. Further, a plurality of projections 1211 are disposed on the outer circumferential wall of the sleeve rod 121, the projections 1211 are spaced along the outer circumferential wall of the sleeve rod 121, and a slot 1212 is formed between two adjacent projections 1211. In other embodiments, the locking groove 1212 may be formed on the outer circumferential wall of the stem 121 by material removal. The number of the protrusions 1411 may be set to two, and the two protrusions 1411 are provided at an interval of 180 ° in the circumferential direction to uniformly transmit the circumferential force to the stem 121 in the circumferential direction of the stopper 14. The number of slots 1212 formed between the bumps 1211 may be greater than the number of protrusions 1411, so that a user can correspondingly insert the protrusions 1411 into different slots 1212 as required during assembly.

With continued reference to fig. 5, the end of the projection 1211 that is used to form the card slot 1212 is provided with a lead-in chamfer 12111, the lead-in chamfer 12111 is provided on the projection 1211 at the end that first contacts the protrusion 1411 to guide the protrusion 1411 to gradually snap into the card slot 1212 between adjacent projections 1211. Preferably, in the assembled state, a certain circumferential gap is left between the side wall of the protrusion 1411 and the side wall of the locking groove 1212, so that the two are conveniently mounted, and unnecessary pressing force is avoided.

As previously discussed, different surgical instruments 12 may need to be replaced when different surgical procedures are performed. The instrument rod 122 of the surgical instrument 12 is connected to the transmission member, so that the axial position thereof along the first axis X changes with the transmission member, and the actuator 100 further includes a plug/pull-limiting assembly 13 for limiting the axial direction of the sleeve rod 121 and facilitating the removal of the sleeve rod 121 when the surgical instrument 12 is replaced.

Referring to fig. 4, a limiting ring groove 1213 recessed in the radial direction of the loop bar 121 is provided on the outer circumference of the loop bar 121, and the insertion and extraction limiting assembly 13 is provided corresponding to the limiting ring groove 1213 and limits the axial position of the loop bar 121 in the direction of the first axis X.

FIG. 6 is an enlarged view of the portion B of the structure shown in FIG. 4, showing the relative position between the insertion and extraction limiting assembly and the sleeve rod; FIG. 7 is a half sectional view showing a partial structure of an actuator; FIG. 8 is an enlarged view of the portion C of the structure shown in FIG. 7, which shows the specific structure of the insertion and extraction limiting assembly and the relative position relationship between the insertion and extraction limiting assembly and the loop bar; fig. 9 is a perspective view of an upper plate body in the detection element; FIG. 10 is a perspective view of a position-limiting element of the insertion/extraction position-limiting assembly;

referring first to fig. 7 and 8, the base 114 is formed with a sliding stroke space 1142 perpendicular to the first axis X, and the sliding stroke space 1142 penetrates a part of the surface of the base 114 and communicates with a position where the sleeve rod 121 penetrates the base 114. The insertion/extraction limiting assembly 13 includes a limiting element 131, the limiting element 131 is slidably connected to the sliding stroke space 1142, a limiting hole 1311 for the sleeve rod 121 to pass through is formed in the limiting element 131, and in an assembled state, the limiting hole 1311 is correspondingly sleeved outside the limiting ring groove 1213.

In the sliding direction of the stop element 131, i.e. the direction indicated by the solid arrow in fig. 8, the stop element 131 has a first preset position and a second preset position. In the first preset position, the limiting hole 1311 of the limiting element 131 limits the axial sliding of the loop bar 121 relative to the base 114 at the limiting ring groove 1213; in this second preset position, the retainer hole 1311 unlocks the axial lock of the stem 121, and the stem 121 can be pulled out in the direction of the first axis X. At this time, the surgical instrument 12 may be separated from the driving assembly 11 by controlling the transmission member to move to a position where the instrument rod 122 is detachable.

Referring to fig. 8, the spacing ring groove 1213 has a stop surface 12131, and the stop surface 12131 is parallel to a side surface of the spacing element 131, and the spacing element 131 can abut against the stop surface 12131 to reliably limit the axial position of the loop bar 121 relative to the spacing element 131.

In some existing surgical robot structures, a loop bar is in threaded connection with external threads on the periphery of a rotating shaft through a threaded sleeve to fix the axial position between the loop bar and the rotating shaft, and an instrument bar is axially connected with a transmission structure where the rotating shaft is located through an axial limiting structure in a proper form. Compare this, the utility model provides a spacing subassembly 13 of plug when the assembly, can be at first with limiting element 131 sliding connection in the slip stroke space 1142 on frame 114, then penetrate spacing hole 1311 on frame 114 and limiting element 131 with loop bar 121, and make spacing annular 1213 card go into spacing hole 1311, like this, both can form stable spacing relation, and when dismantling, only need slide limiting element 131 along slip stroke space 1142 and can realize the unblock, compare in threaded connection's form, the utility model discloses well loop bar 121 is all comparatively simple and convenient with the dismouting of frame 114.

Referring to fig. 8, further, an elastic element 132 is disposed between the base 114 and the position-limiting element 131, and the elastic force of the elastic element 132 acts on the position-limiting element 131 to keep it at the first preset position. The limiting element 131 is kept at the first preset position, and when no external force causes the limiting element 131 to slide, the limiting element 131 is kept at the position for limiting the axial displacement of the loop bar 121, so that the loop bar 121 can be prevented from being accidentally disengaged. In one embodiment, the elastic element 132 is disposed at one end of the position-limiting element 131, which is opened with the position-limiting hole 1311, and is compressed between the position-limiting element 131 and the base 114. Thus, the elastic force of the elastic element 132 is pressed against the position-limiting element 131 to keep it at the first preset position.

Referring to fig. 6 and 8, a pressing portion 133 is fixedly connected to an end of the position-limiting element 131 far from the position-limiting hole 1311, the pressing portion 133 is located outside the housing 114, a sliding hole 151 is formed at a corresponding position on the housing 15, and an end of the pressing portion 133 extends out of the housing 15 from the sliding hole 151. When an external force pushes the pressing portion 133, the pressing portion 133 pushes the limiting element 131 downward, and the elastic element 132 is further compressed by the external force, so that the limiting element 131 can slide from the first preset position to the second preset position.

Fig. 16 is a sectional view of a housing in the driving assembly, and referring to fig. 16, a slide stroke space 1142 has a rectangular section to which the sectional shape of the restriction element 131 is adapted so as to prevent the restriction element 131 from rotating with respect to the slide stroke space 1142. In other embodiments, the cross-sectional shape of the sliding stroke space 1142 may be provided with any other non-circular surface as long as the rotation of the position restricting element 131 therein can be prevented. In other embodiments, the rotation of the restriction element 131 may also be restricted by providing a circumferential restriction between the restriction element 131 and the housing 114, without necessarily restricting the rotation of the restriction element 131 by the sectional shape of the sliding stroke space 1142.

In one embodiment, the limiting hole 1311 may include a large-diameter portion and a small-diameter portion, which are disposed along the sliding direction of the limiting element 131, and when the limiting element 131 is maintained at the first preset position by the elastic force of the elastic element 132, the small-diameter portion of the limiting hole 1311 is in limiting engagement with the limiting ring groove 1213 of the stem 121; when the position-limiting element 131 slides to the second predetermined position along the sliding stroke space 1142 under the external force, the large-diameter portion is aligned with the sleeve rod 121 to allow the sleeve rod 121 to slide out of the position-limiting hole 1311. In other embodiments, the position-limiting hole 1311 may also be configured as a waist-shaped hole, the hole wall of the lower end of the waist-shaped hole is snapped into the position-limiting ring groove 1213 when the position-limiting element 131 is in the first preset position, and the waist line of the waist-shaped hole is aligned with the loop bar 121 when the position-limiting element 131 slides to the second preset position, so that the hole wall of the waist-shaped hole no longer axially limits the loop bar 121 to fall out.

When the plug-in limiting assembly 13 is designed, not only the reliable axial limiting of the loop bar 121 but also the need of quick detachment of the loop bar 121 must be considered. During the operation, the time for the operator to replace the surgical instrument 12 is limited, and therefore, in the existing surgical robot, at the connection position of the surgical instrument, it is often inclined to select some quick-release seat assemblies which are convenient to disassemble and assemble. However, when detaching the surgical instrument, the user generally determines whether the surgical instrument is detachable by manipulating the hand, for example, when the operation of releasing the axial lock of the surgical instrument is a pressing operation, the user needs to apply pressure based on experience and then pull out the surgical instrument in the axial direction, and when the pressing force is insufficient, the surgical instrument may be damaged.

In order to avoid the above problem, the plug/unplug limiting assembly 13 of the present invention further includes a detecting element 134 for assisting the user to determine whether the stem 121 can be currently unplugged. Referring to fig. 6, the detecting element 134 is disposed on the sliding path of the position limiting element 131 and is used to determine the stop position of the position limiting element 131 relative to the housing 114.

Referring to fig. 10, an end of the limiting element 131 near the detecting element 134 is provided with a trigger segment 1312, and the trigger segment 1312 has a trigger tip 13121 at the end. The elastic element 132 is sleeved outside the triggering section 1312 of the position-limiting element 131, and two ends of the elastic element 132 respectively abut against the position-limiting element 131 and the inner side surface of the base 114.

As shown in fig. 6 in conjunction with fig. 10, the detecting element 134 has a detecting channel 1341, and when the trigger tip 13121 of the position limiting element 131 extends into the detecting channel 1341, the detecting element 134 is triggered to emit a corresponding electrical signal.

In one embodiment, the sensing element 134 is selected to be a photoelectric travel switch. A pair of correlation devices are disposed on a pair of opposing sidewalls within the detection channel 1341, and the detection element 134 is triggered when the trigger tip 13121 extends into the detection channel 1341 and is shielded between the correlation devices.

Further, when the detecting element 134 is triggered, the electric signal sent by the detecting element 134 can control a warning light to emit light, so as to warn the user that the limiting element 131 is at the second preset position, and the loop bar 121 can be removed. In other embodiments, the device for prompting the user of the stop position of the position-limiting element 131 may also be a sound-emitting device such as a buzzer, which is used to prompt the user that the loop bar 121 can be removed currently.

By the foregoing, the utility model discloses in, the loop bar 121 among the surgical instrument 12 is spacing to be realized through spacing subassembly 13 of plug and drive disk assembly respectively with the axial of apparatus pole 122, consequently, the signal of telecommunication that sends after detecting element 134 is triggered can also be used for controlling drive disk assembly's action to make apparatus pole 122 also driven to can dismantle the position, thereby the user of being convenient for dismantles surgical instrument 12. To prevent the surgical instrument 12 from being detached by mistake, the control system of the surgical robot may control the instrument shaft 122 to remain in the axially coupled position until the detection element 134 is triggered to send an electrical signal.

Referring to fig. 8, an upper plate 1342 is fixedly connected to the base 114, and the detecting element 134 is connected to the upper plate 1342 to be fixedly connected to the base 114. On the basis of fig. 8, in combination with the three-dimensional structure diagram of the upper plate body 1342 shown in fig. 9, an abdicating groove 1343 is formed on the upper plate body 1342, the abdicating groove 1343 includes an inlet groove section 13431 and a guide groove section 13432 which are communicated with each other, wherein: the entrance slot segment 13431 has a slot size capable of allowing the trigger tip 13121 to pass through the upper plate body 1342, the guide slot segment 13432 has a slot cross-sectional size smaller than that of the trigger tip 13121, and when the limiting element 131 slides into the guide slot segment 13432 laterally, the trigger tip 13121 is limited on a side surface of the upper plate body 1342 installed toward the detection element 134 and is capable of sliding into/out of the detection channel 1341 under the guiding action of the slot wall of the guide slot segment 13432.

As mentioned above, there is often a need to replace the surgical instrument 12 before or during the operation, and therefore, in order to facilitate the detachment and installation of the loop bar 121, the actuator 100 of the present invention is provided with the insertion/extraction limiting component 13. To completely remove the surgical instrument 12, the instrument shaft 122 is also disconnected. Unlike the position limiting of the loop bar 121, the instrument bar 122 needs to be tensioned during the surgical procedure so that the manipulation end 123 at the end of the instrument bar 122 can perform the desired surgical action. Taking the operating end configured as a surgical clamp as an example, the surgical clamp needs to be capable of at least rotating around the first axis X and opening and closing the surgical clamp itself during the operation. In da vinci surgical robot and some other current surgical robots, in order to drive the operation end to open and shut the motion, generally adopt the drive assembly that steel band and pulley constitute, however, this kind of drive form has proposed higher requirement to the material and the installation technology of steel band, and equipment cost is extremely high, and simultaneously, the connection between this kind of drive assembly and the surgical instruments is also comparatively complicated, is difficult to satisfy the requirement of surgical instruments quick assembly disassembly.

To solve the above problem, the actuator 100 of the present invention employs an improved driving assembly 11. FIG. 11 is a perspective view of a partial structure of a driving assembly; FIG. 12 is a perspective view of a transmission member according to an embodiment; FIG. 13 is a cross-sectional view of the engagement structure of the drive member with the instrument shaft; FIG. 14 is a perspective view of a portion of the actuator; FIG. 15 is a perspective view of a base of the drive assembly; fig. 16 is a cross-sectional view of a housing in the drive assembly.

Referring to fig. 11 to 14, the driving assembly 11 includes a driving member 111, a transmission member 112 and a driving source 113, wherein: the driving source 113 is fixedly connected to the base 114, an output end of the driving source 113 is connected to the driving member 111 to drive the driving member 111 to rotate, and the driving member 111 is in transmission fit with the transmission member 112 to drive the transmission member 112 to swing.

Referring to fig. 12 and 13, the transmission member 112 may be provided as an integral metal part and includes a body having a pivot portion 1121, a motion input portion 1122, and a tension driving portion 1123. Wherein: a pivot shaft 119 is disposed through the pivot portion 1121 to allow the body of the driving member 112 to be rotatably connected to the base 114 shown in fig. 14 through the pivot shaft 119; the motion input portion 1122 is in transmission with the driving member 111 to drive the body to swing within a predetermined angle range around the axis of the pivot portion 1121; the tension driving part 1123 and the motion input part 1122 are arranged at an angle with each other along the swinging direction of the body; the tension driving part 1123 is formed with a sliding groove 1124, and the sliding groove 1124 penetrates through the end and the side of the tension driving part 1123 to form a port 1125 and a side gap 1126. In some embodiments, the body of the transmission member 112 may further be provided with a weight reduction groove to reduce the moment of inertia of the transmission member 112.

With continued reference to fig. 12 and 13, one end of instrument shaft 122 extends out of loop bar 121 and has a sliding end 1221. in some embodiments, sliding end 1221 may be configured similar to a spherical end of a ball head, such that sliding end 1221 is able to rotate within slide channel 1124 to accommodate changes in the angle between drive member 112 and instrument shaft 122. Sliding end 1221 of instrument shaft 122 is able to slide into/out of slide channel 1124 from port 1125 in tensioning drive 1123, while the remainder of instrument shaft 122 extends out of side gap 1126 when sliding end 1221 is slidably connected within slide channel 1124.

The other end of the instrument rod 122 is connected to the operation end 123, and when the instrument rod 122 translates along the direction of the first axis X, the operation end 123 can be driven to perform an operation. For example, when the surgical operation is performed as an opening and closing movement of the forceps, the instrument rod 122 is translated closer to or farther from the operation end 123, and the opening and closing mechanism of the operation end 123 can be driven to open or close. Compared with the mode that the operation end is driven by the steel belt to complete the operation action in the prior art, the instrument rod 122 basically extends or shortens elastically in the tensioning process, so that the opening and closing degree of the operation end 123 can be controlled by controlling the movement of the instrument rod 122, when the steel belt is used as a traction piece, the action amplitude of the operation end is not controllable due to the elastic deformation possibly generated in the traction process of the steel belt, the steel belt made of special materials is required to be adopted to control the amplitude error, and the installation precision is correspondingly improved.

Referring to fig. 11, the motion input part 1122 is provided as a plurality of gear teeth distributed along the body swing direction, the plurality of gear teeth are distributed to form a sector gear region, and the driving member 111 is provided as a gear capable of meshing with the sector gear region. In this way, when the driving member 111 rotates, the driving body swings within a predetermined angle range by the engagement of the driving member 111 with the gear teeth as the motion input part 1122. In one embodiment, a plurality of gear teeth are disposed at one side of the body swing plane and cooperate with the driving member 111 to form a space gear transmission, and the space gear transmission is arranged in a manner that the length of the position where the driving member 111 cooperates with the transmission member 112 along the first axis X is shortened as compared to the unfolded arrangement.

Referring to fig. 13 and 14, in one embodiment, the slide slots 1124 extend in a straight line. As mentioned above, the loop bar 121 is kept fixed relative to the base 114 under the axial limiting action of the insertion and extraction limiting assembly 13. The instrument rod 122 is coaxially disposed inside the sleeve rod 121, and thus, the instrument rod 122 is guided by the sleeve rod 121. Thus, when the driving source 113 works, the output end of the driving source 113 drives the driving member 111 to rotate, and the driving member 111 and the motion input portion 1122 on the transmission member 112 are engaged for transmission, so that the transmission member 112 swings around the fixed axis; the sliding end 1221 of the instrument rod 122 is slidably connected in the sliding slot 1124, and when the tensioning driving portion 1123 swings, the sliding end 1221 slides in the sliding slot 1124, and since the portion of the instrument rod 122 extending out of the sliding slot 1124 is guided by the sliding of the sleeve rod 121, the swinging motion of the transmission member 112 is finally converted into the translation of the instrument rod 122 along the axial direction (or the first axis X direction) thereof.

With continued reference to the view shown in fig. 13, along the swing path of the transmission member 112, it has a first extreme position and a second extreme position. In the first extreme position, sliding end 1221 is adjacent port 1125, and a user may pull sliding end 1221 out of port 1125 in the sliding direction of instrument bar 122, thereby effecting detachment of instrument bar 122 from drive assembly 11; in the second extreme position, sliding end 1221 slides along sliding slot 1124 to the farthest end away from port 1125, and at this time, sliding end 1221 and the end wall of sliding slot 1124 are spaced apart from each other, so as to prevent sliding end 1221 from abutting against the end wall of sliding slot 1124, and to prevent transmission member 112 from being locked in sliding slot 1124, thereby affecting the reverse swing of transmission member 112.

Adopt the utility model provides a during drive assembly 11, two purposes can be realized simultaneously in the swing of driving medium 112: the instrument rod 122 slides along the axis of the instrument rod, so that the operation end 123 is driven to perform operation; when the transmission member 112 is swung to the first limit position, the instrument rod 122 can be detached from the port 1125, i.e., a quick release structure of the instrument rod 122 is also formed. The driving assembly 11 of the present invention can realize the operation and control of the surgical instrument 12 and the detachment of the instrument rod 122 therein with a simple structure.

Further, similar to the introduction of the detection element 134 in the insertion/extraction limiting assembly 13, when the instrument rod 122 is detached, the position of the swing stop of the transmission member 112 also needs to be detected to assist the user in determining whether the instrument rod 122 can be pulled out currently. In addition, the driving assembly 11 may further be provided with a related detecting unit for detecting an extreme position of the transmission member 112 in another swinging direction, so as to prevent the transmission member 112 from swinging beyond the second extreme position, which may cause the sliding end 1221 to be jammed in the sliding slot 1124.

For the above purpose, referring to fig. 14, the driving assembly 11 further comprises a detecting unit disposed on the swinging path of the transmission member 112, for detecting the first limit position and/or the second limit position of the swinging of the transmission member 112. It will be appreciated that when both extreme positions need to be detected, the detection unit can serve the above two purposes simultaneously — prompting the user that the implement bar 122 can now be pulled out and that further swinging of the transmission member 112 would exceed the second extreme position, with the risk of jamming the implement bar 122. In the following, an embodiment including two detection functions is described as an example, and those skilled in the art will understand that only one of the detection functions may be provided.

As shown in connection with fig. 13 and 14, the detection unit may comprise a first opto-electronic switch 115 and a second opto-electronic switch 116 corresponding to a first extreme position and a second extreme position, respectively, of the transmission member 112. When the first photoelectric switch 115 is triggered, further sliding of the instrument rod 122 in the original direction can drive the sliding end 1221 to slide out of the sliding groove 1124 from the port 1125; when the second photoelectric switch 116 is triggered, the surgical robot can control the driving member 112 to stop to prevent further swinging thereof through the driving source 113, or directly control the driving member 112 to swing reversely, so as to prevent the driving member 112 from swinging over travel and being stuck.

Referring to fig. 11 and 14, a calibration piece 117 is further fixed on one side surface of the transmission member 112, and the calibration piece 117 swings with the transmission member 112 and is used for triggering the detection unit to send out a corresponding electrical signal. In one embodiment, in the electric control system of the surgical robot, the detection element 134 for detecting the sliding stop position of the limit element 131 may be associated with the detection unit for detecting the swing stop position of the transmission member 112, for example, only when the first photoelectric switch 115 detects that the transmission member 112 is at the first limit position and the detection element 134 detects that the limit element 131 is at the second preset position, an electric signal may be sent to prompt the user that the surgical instrument 12 may be replaced currently.

Referring to fig. 14 to 16, in order to reduce the volume of each part of the surgical robot and to make the flexibility of the surgical robot better, the present invention is designed to arrange each part in the driving assembly 11, so as to reduce the local size of the surgical robot through the rational layout of the parts.

The base 114 is adapted to the layout requirements of the driving member 111, the transmission member 112 and the detection unit, and may include a sliding connection portion 1145, and a first fork plate 1143 and a second fork plate 1144 fixedly or integrally disposed at one end of the sliding connection portion 1145, wherein: the two fork plates are parallel to each other and arranged at intervals, and each fork plate is parallel to the plane where the transmission member 112 swings. In one embodiment, two end surfaces of the pivoting portion 1121 of the transmission member 112 are parallel to the first fork 1143 and the second fork 1144, respectively, and have a certain gap with the inner side surfaces of the two fork plates, respectively, so as to prevent the swinging motion of the transmission member 112 from being affected by the two fork plates.

The first photoelectric switch 115 and the second photoelectric switch 116 as the detecting unit are both installed on the first fork plate 1143, the calibration member 117 is installed on the transmission member 112 and faces one side of the first fork plate 1143, the first fork plate 1143 is provided with an arc-shaped groove 11431, and in an assembled state, the calibration member 117 extends out of the arc-shaped groove 11431 to trigger the first photoelectric switch 115 or the second photoelectric switch 116 installed on the outer side surface of the first fork plate 1143.

Fig. 17 and 18 are structural views of a part of the structure of the drive assembly. Referring to fig. 16 and 17, the driving source 113 includes a driving body 1131, and the driving body 1131 is configured as an elongated structure extending along the first axis X, and one end of the driving body in the length direction is an output end for connecting with the driving member 111. The drive body 1131 is fixedly attached to the second fork plate 1144 by a fixed bracket 118. Further, in order to engage the driving member 111 with the transmission member 112, the second fork plate 1144 is provided with an avoidance opening 11441, and a partial structure of the driving member 111 extends from the avoidance opening 11441 into a space between the first fork plate 1143 and the second fork plate 1144, and engages with the motion input portion 1122 of the transmission member 112 between the two fork plates.

Referring to fig. 7 and 16, the sliding connection portion 1145 is provided with a sliding hole 11451 along the first axis X, one end of the sliding hole 11451 is connected to the end of the sliding connection portion 1145 adjacent to the two fork plates, and the other end of the sliding hole 11451 is connected to the mounting hole 1141. A sliding stroke space 1142 is also provided on the slip connection portion 1145. The limit piece 14 is embedded in the mounting hole 1141, the loop bar 121 passes through the limit piece 14 and extends into the sliding hole 11451, and after passing through the sliding stroke space 1142, the plug-in limit assembly 13 is limited to a preset axial position; the portion of the instrument rod 122 that passes through the sleeve rod 121 passes through the sliding hole 11451 to be located between the two fork plates, and is slidably connected to the sliding slot 1124 of the transmission member 112.

Referring to fig. 17 and 18, the driving member 111 is connected to the output end of the driving source 113, and rotates around the second axis Y under the driving of the driving source 113, and the instrument rod 122 slides telescopically along the first axis X parallel to the second axis Y. Further, the second axis Y is in a line-plane parallel relationship with the plane on which the transmission member 112 swings. In this manner, the drive source 113 is disposed substantially parallel to the surgical device 12, reducing the space occupation of the relevant location.

Referring to fig. 17, further, the output end of the driving source 113 faces away from the position where the instrument rod 122 is inserted into the sliding slot 1124, so that the driving body 1131 of the driving source 113 substantially coincides with the base 114 in the first axis X direction, and the driving body 1131 of the driving source 113 is prevented from occupying a long axial space. In addition, the two sides of the driving source 113 do not exceed the area between the two extreme positions of the swing of the transmission member 112, so that the driving source 113 and the transmission member 112 are arranged in the up-down relationship substantially as shown in fig. 17 without being shifted from side to side, and the local space occupation is further reduced.

Compare in da vinci surgical robot, the utility model provides a surgical robot not only controls the space that mechanism 300 department occupied at the heart far away and reduces to some extent, in actuating mechanism 100 department, through the structural adjustment of each subassembly and the overall arrangement that changes the structure for actuating mechanism 100 occupies space is also less, so makes surgical robot's small in size, and the motion is nimble.

In order to further reduce the space occupation of the telecentric control mechanism 300, the utility model discloses still provide an improved movable platform 32. FIG. 19 is a perspective view of a portion of the telecentric manipulating mechanism, showing the mounting position relationship between the movable platform and the connecting assembly; FIG. 20 is a perspective view of the movable platform from one perspective, showing the distribution of weight-reduction slots and avoidance space on one side of the movable platform; FIG. 21 is a perspective view of the movable platen from another perspective showing the distribution of the internal chambers on the other side of the movable platen; fig. 22 is a sectional view of a part of the structure of the surgical robot, showing the mounting positions of various components inside the movable platform.

Referring to fig. 19 to 21, an escape space 321 is concavely formed in one side surface of the movable platform 32, and the connection assembly 34 between the telescopic unit 31 and the movable platform 32 is at least partially located in the escape space 321. Compared with the mode that the connecting assembly 34 is directly arranged on one side surface of the movable platform 32, the arrangement of the avoiding space 321 enables the space occupation of the movable telecentric control mechanism 300 along the first axis X direction to be reduced.

In some embodiments, the movable platform 32 is further provided with a weight-reducing groove 322 on the side where the avoiding space 321 is provided, and the position of the weight-reducing groove 322 is offset from the avoiding space 321. Preferably, there are a plurality of lightening slots 322, and the plurality of lightening slots 322 balance the weight of the movable platform 32 so that the center of mass of the movable platform 32 coincides with the center of the circle where the plurality of connecting components 34 are located. Subtract the setting of heavy groove 322 and make the holistic weight reduction of movable platform 32, dodge the setting of space 321 in addition, compare in ordinary solid platform structure, the utility model provides a movable platform 32 whole weight is little, and its inertia of motion is also little when the swing, is favorable to moving the nimble motion of platform 32. Especially, when the center of mass of the movable platform 32 coincides with the center of the circle where the plurality of connecting assemblies 34 are located, the moving accuracy of the movable platform 32 is higher.

Further, referring to fig. 21 and 22, the movable platform 32 includes a body, an inner cavity 323 is formed on a side surface of the body facing away from the avoiding space 321, the inner cavity 323 is used for embedding the motor 200, and the motor 200 is used for driving the actuator 100 to rotate integrally. The motor 200 is arranged in the inner cavity 323 of the movable platform 32, so that the size of the surgical robot can be further reduced, and the miniaturization of the surgical robot is facilitated.

Specifically, referring to fig. 22, the motor 200 includes a rotor 21, a stator 22, and a hollow rotating shaft 23. Wherein: a bearing inner ring 351 is fixedly connected to the rotor 21, a bearing outer ring 353 is fixed to the movable platform 32, and a roller 352 is arranged between the bearing inner ring and the bearing outer ring, and the three form the bearing 35. The rollers 352 may alternatively be cross rollers to enable the bearing 35 to transmit spatial forces between the inner and outer races. In other embodiments, the bearing 35 may be other bearings capable of bearing space force, or a combination of bearings may be used to bear space force.

The housing 114 of the actuator 100 is fixedly connected relative to the rotor 21. Specifically, one end of the base 114 close to the movable platform 32 is provided with a rotation connection portion 1146, and the base 114 is directly or indirectly fixed to the rotor 21 of the motor 200 through the rotation connection portion 1146, so as to be driven by the motor 200 to rotate.

As can be seen from the foregoing, since the driving mechanism 100 no longer uses a flexible driving mechanism such as a steel belt, but uses the driving assembly 11 to pull the instrument rod 122, the force of the operation end 123 at one end of the instrument rod 122 can be transmitted to the movable platform 32. Therefore, in one embodiment, a first sensor 36 is further disposed between the rotary connection 1146 and the rotor 21, and the first sensor 36 may be selected as a torque sensor and is used for sensing an environmental torque applied to the actuator 100. Thus, the torque applied to the actuator 100 can be fed back to the first sensor 36 through the rotating connection portion 1146 of the base 114. Further, the connecting wires of the first sensor 36 can pass out through the cavity inside the hollow rotating shaft 23.

With continued reference to fig. 22, to mount the first sensor 36 to the rotor 21, the movable platform 32 is further provided with a fixed seat 361. In addition, a second sensor 37 is disposed on the movable platform 32, and the second sensor 37 is used for detecting the angle of the actuator 100 rotating along with the motor 200. In the illustrated embodiment, a part of the second sensor 37 is fixed to the rotor 21 via the hollow rotating shaft 23, and the other part of the second sensor 37 is fixed to the movable platform 32, so that the angle of rotation of the actuator 100 is detected by detecting the angle of rotation of the rotor 21 relative to the stator 22. The second sensor 37 is provided on a side surface of the movable platform 32 to which the connection assembly 34 is connected.

Referring to fig. 19, a cover 38 is also attached to the side of the movable platform 32 opposite the connecting assembly 34, and the cover 38 covers the structure mounted in the movable platform 32.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. The utility model provides a mechanism is controlled to telecentricity of surgical robot which characterized in that, including moving platform, quiet platform and connect in move the platform with a plurality of telescoping units between the quiet platform, wherein:

move one side of platform surface indent and form and dodge the space, flexible unit one end with move coupling assembling between the platform at least part and be located dodge in the space, flexible unit's the other end rotate be connected to quiet platform, it is a plurality of flexible unit is flexible in coordination with control move the platform for quiet platform motion.

2. The telecentric control mechanism of claim 1, wherein the movable platform is further provided with weight reduction slots at positions offset from the avoidance space.

3. The telecentric manipulating mechanism of claim 2, wherein the plurality of weight reducing slots are provided, and the plurality of weight reducing slots balance the weight of the movable platform such that the center of mass of the movable platform coincides with the center of the circle in which the plurality of connecting assemblies are located.

4. The telecentric operating mechanism according to claim 1, wherein an internal cavity for embedding a motor is provided on a side of the movable platform opposite to the connection of the telescopic unit.

5. A surgical robot comprising the telecentric manipulating mechanism of any one of claims 1 to 4 and an actuator disposed on the movable platform, wherein:

a motor is embedded in the movable platform, a bearing inner ring is fixedly arranged on a rotor of the motor, a bearing outer ring is fixedly arranged on the movable platform, and a roller for transmitting space force between the bearing inner ring and the bearing outer ring is supported between the bearing inner ring and the bearing outer ring;

the actuator is fixedly connected relative to the rotor.

6. A surgical robot as claimed in claim 5, wherein the motor comprises a hollow rotating shaft, a first sensor for detecting the environmental torque applied to the actuator is further disposed between the rotor and the actuator, and a connecting wire of the first sensor passes through the hollow rotating shaft.

7. A surgical robot as claimed in claim 6, wherein the actuator comprises a housing, and the first sensor is fixedly connected at one end to the housing and at the other end to the rotor by a fixed mount.

8. A surgical robot as claimed in claim 5, wherein a second sensor is provided on the movable platform for detecting the angle of rotation of the actuator with the motor.

9. A surgical robot as claimed in claim 5, wherein the rollers are arranged as criss-cross rollers.

10. The utility model provides a telecentric mobile platform of controlling mechanism, its characterized in that, includes the body, concave on the side of body is formed with dodges the space, dodge the space be used for installing telescopic unit with coupling assembling between the body.

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